//
// Copyright (C) 2014 OpenSim Ltd.
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <https://www.gnu.org/licenses/>.
//

#ifndef __INET_ROTATIONMATRIX_H
#define __INET_ROTATIONMATRIX_H

#include "inet/common/geometry/common/Coord.h"
#include "inet/common/geometry/common/EulerAngles.h"
#include "inet/common/geometry/common/Quaternion.h"

namespace inet {

/*
 * Represents a 3D rotation matrix.
 */
class INET_API RotationMatrix
{
  protected:
    double matrix[3][3];

  protected:
    void computeRotationMatrix(const double& q0, const double& q1, const double& q2, const double& q3);
    double computeDeterminant() const;

  public:
    RotationMatrix();
    RotationMatrix(const double matrix[3][3]);
    RotationMatrix(const EulerAngles& eulerAngles);

    Coord rotateVector(const Coord& vector) const;
    Coord rotateVectorInverse(const Coord& vector) const;

    EulerAngles toEulerAngles() const;
    Quaternion toQuaternion() const;
};

} // namespace inet

#endif

